openpilot compile cleanups

openpilot/compile.py

@@ -6,6 +6,8 @@ if os.getenv("OPT", None) is None:
   os.environ['OPT'] = '99'
 if os.getenv("GPU", None) is None:
   os.environ['GPU'] = '1'
+if os.getenv("IMAGE", None) is None:
+  os.environ['IMAGE'] = '2'
 
 from tinygrad.helpers import getenv
 ALLOWED_KERNEL_COUNT = getenv("ALLOWED_KERNEL_COUNT", 0)
@@ -26,34 +28,9 @@ OPENPILOT_MODEL = "https://github.com/commaai/openpilot/raw/6c5693e965b9c63f8678
 
 np.random.seed(1337)
 def get_random_input_tensors(input_shapes):
-  np_inputs = {
+  # this 16 is a random scale factor
-    "input_imgs": np.random.randn(*(1, 12, 128, 256))*256,
+  inputs = {k:Tensor.randn(*shp, requires_grad=False)*16 for k,shp in input_shapes.items()}
-    "big_input_imgs": np.random.randn(*(1, 12, 128, 256))*256,
+  np_inputs = {k:v.realize().numpy() for k,v in inputs.items()}
-    "desire": np.zeros((1,100, 8)),
-    "traffic_convention": np.array([[1., 0.]]),
-    #"features_buffer": np.random.randn(*(1, 99, 128))
-    "features_buffer": np.random.randn(*input_shapes['features_buffer'])
-    #"initial_state": np.zeros((1, 768))
-  }
-  if getenv("ZERO_OUT", 0):
-    np_inputs = {k:v*0 for k,v in np_inputs.items()}
-
-  for k,v in np_inputs.items():
-    assert v.shape == input_shapes[k], f"{k} shape mismatch, {v.shape} {input_shapes[k]}"
-
-  #import pickle
-  #frames, big_frames, last_state, frame_inputs, policy_outs = pickle.load(open("openpilot/test/frame_0.pkl", "rb"))
-  #np_inputs["input_imgs"] = frames
-  #np_inputs["big_input_imgs"] = big_frames
-  #np_inputs["initial_state"] = last_state[0]
-
-  #for i,k in enumerate(np_inputs.keys()):
-  #  dat = open("/home/batman/openpilot/xx/ml_tools/snpe/compile_test_data/dlc_input_%d" % i, "rb").read()
-  #  np_inputs[k] = np.frombuffer(dat, np.float32).reshape(np_inputs[k].shape)
-
-  np_inputs = {k:v.astype(np.float32) for k,v in np_inputs.items()}
-  inputs = {k:Tensor(v.astype(np.float32), requires_grad=False) for k,v in np_inputs.items()}
-  for _,v in inputs.items(): v.realize()
   return inputs, np_inputs
 
 from extra.jit import TinyJit
@@ -72,10 +49,7 @@ def compile(dat, output_fn):
 
   onnx_model = onnx.load(io.BytesIO(dat))
   run_onnx = get_run_onnx(onnx_model)
-
+  input_shapes = {inp.name:tuple(x.dim_value for x in inp.type.tensor_type.shape.dim) for inp in onnx_model.graph.input}
-  input_shapes = {}
-  for inp in onnx_model.graph.input:
-    input_shapes[inp.name] = tuple(x.dim_value for x in inp.type.tensor_type.shape.dim)
 
   inputs, np_inputs = get_random_input_tensors(input_shapes)
   # run twice to trigger the JIT
@@ -90,6 +64,7 @@ def compile(dat, output_fn):
   for prg,args in model_exec.jit_cache:
     real_clprg = prg.clprg
     used_ops += real_clprg.op_estimate
+    # replace clprg with a fake program to log to cl_cache
     prg.clprg = lambda *args: cl_cache.append((real_clprg, args))
     prg(*args)
 
@@ -111,7 +86,7 @@ def compile(dat, output_fn):
   CL.enqueue_copy(thneed_out, t.outputs[0], is_blocking=True)
   np.testing.assert_allclose(thneed_out, tinygrad_out.numpy())
 
-  # float32 only (fix this)
+  # testing is float32 only (fix this)
   FLOAT16 = getenv("FLOAT16", 0)
   if FLOAT16 == 0:
     try:

tinygrad/graph.py

@@ -3,7 +3,7 @@ import atexit
 import itertools
 import networkx as nx  # type: ignore
 from collections import defaultdict
-from typing import Dict, List
+from typing import Dict, List, Optional
 from tinygrad.ops import DeviceBuffer, DEBUG, UnaryOps, BinaryOps, ReduceOps, MovementOps, ProcessingOps, LoadOps, Op, OpType, LazyOp, get_buffers, get_lazyops
 from tinygrad.helpers import getenv
 
@@ -38,7 +38,8 @@ def get_sop(op : List[Op]):
   if len(op) <= 4: return '.'.join([str(y).split(".")[1][0:2] for y in op][::-1])
   return str(len(op))
 
-def log_op(ret : DeviceBuffer, ast : LazyOp, show_graph : bool = GRAPH):
+def log_op(ret : DeviceBuffer, ast : LazyOp, show_graph : Optional[bool] = None):
+  if show_graph is None: show_graph = GRAPH
   if not DEBUG and not show_graph: return
   op : List[Op] = [x.op for x in get_lazyops(ast)]
   inp : List[DeviceBuffer] = get_buffers(ast)